ICRA 2012 Paper Abstract

Close

Paper TuB04.4

Leutenegger, Stefan (ETH Zurich), Siegwart, Roland (ETH Zurich)

A Low-Cost and Fail-Safe Inertial Navigation System for Airplanes

Scheduled for presentation during the Regular Session "Pose Estimation" (TuB04), Tuesday, May 15, 2012, 11:15−11:30, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Aerial Robotics, Sensor Fusion, Failure Detection and Recovery

Abstract

A typical Inertial Navigation System (INS) fuses acceleration and angular rate readings with aiding measurements obtained by GPS and a compass. Here we present a robust state estimation framework based on the Extended Kalman Filter (EKF) applied to low-cost electronics typically installed on-board small unmanned airplanes. It uses airspeed measurements as a backup operation mode replacing GPS updates when temporarily unavailable. We demonstrate the applicability of the proposed approach to real-world scenarios using a challenging dataset recorded on-board a manned glider including long-term circling. A comparison between the normal operation mode and the backup solution reveals minimal difference between the respective orientation estimates, a position error growth sub-linear with time during GPS outage and a seamless transition back to GPS-based operation.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-12-11  16:41:52 PST  Terms of use